1. Division of Marine Science and Conservation, Nicholas School of the Environment, Duke University, Beaufort, NC 28516, USA
2. Southall Environmental Associates, Inc., 9099 Soquel Drive, Suite 8, Aptos, CA 95003, USA
3. Institute for Marine Sciences, University of California Santa Cruz, 115 McAllister Way, Santa Cruz, CA 95060, USA
4. Sea Mammal Research Unit, Scottish Oceans Institute, University of St Andrews, East Sands, St Andrews, Fife KY16 8LB, UK
5. Electrical and Computer Engineering, Pratt School of Engineering, Duke University, Durham, NC 27708, USA